Robot Fleet Deadlock Detection Using Resource Zone Blocking
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Solution Overview
Problem
Autonomous mobile robots often experience deadlock conflicts due to unpredictable disturbances in dynamic environments, making it challenging to avoid deadlocks entirely with existing solutions.
Innovation Solution
A method for detecting occurring deadlock conflicts in a robot fleet by designating robot resource zones, monitoring robot states, and identifying deadlock-relevant states associated with at least two robots, thereby detecting conflicts when one robot is operated towards a resource zone blocked by another.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If general deadlock prediction concepts are applied to autonomous mobile robots, then deadlock prevention capability is improved, but the solutions are not necessarily obvious to employ and may not be applicable due to the dynamic and unpredictable nature of robot fleet environments
Solution Approach 1:
The patent segments the complex problem of deadlock detection in robot fleets into distinct components: identifying individual robot states, determining resource zone blockages, and analyzing the relationship between robots and zones. This segmentation allows the system to handle the dynamic environment by processing information in manageable units rather than attempting to predict entire deadlock scenarios in advance.
Solution Approach 2:
The patent implements preliminary action by continuously monitoring robot states and resource zone occupations before deadlocks actually occur. The system proactively identifies robots with restricted movability and determines which robots are being operated towards blocked zones, enabling early detection and intervention before circular dependencies fully develop.
2Measurement precision
If monitoring is performed on individual robot states to detect deadlocks, then detection sensitivity is improved, but false positives increase because single robot states are insufficient for deducing deadlock conflicts
Solution Approach 1:
The patent merges multiple monitoring dimensions to achieve accurate deadlock detection: it combines information about robot states, resource zone occupations, and the operational relationships between robots and zones. By integrating these multiple data streams, the system achieves high detection sensitivity while maintaining reliability, as the combined information provides conclusive evidence of deadlocks rather than relying on ambiguous single-robot states.
Solution Approach 2:
The patent introduces resource zones as an intermediary concept that mediates between individual robot states and deadlock detection. Instead of directly analyzing complex multi-robot interactions, the system uses resource zone blockages as an intermediate indicator that simplifies the detection process while maintaining accuracy, as zone blockages provide concrete evidence of potential deadlocks without the ambiguity of individual robot states alone.
3Measurement precision
If complex analysis is performed on physical environments to assess robot halts and deadlock conflicts, then detection accuracy is improved, but computational complexity increases making it non-trivial to analyze
Solution Approach 1:
The patent creates simplified copies or representations of the physical environment, specifically resource zones that mirror the actual spatial relationships and blockage conditions. These copied zone models allow the system to perform complex spatial analysis with reduced computational overhead, as the simplified representations capture the essential deadlock-relevant information without requiring full environmental complexity.
Data Source
AI summary
The invention relates to a method for detecting an occurring deadlock conflict in a robot fleet of autonomous mobile robots. The method comprises the steps of: designating a plurality of robot resource zones to respective physical zones in a physical environment; operating said robot fleet such that autonomous mobile robots of said robot fleet individually and dynamically block different resource zones of said plurality of robot resource zones; monitoring said robot fleet to identify deadlock-relevant robot states associated with at least two mobile robots of said robot fleet, wherein said at least two mobile robots comprises at least a first robot and a second robot; and identifying that said first robot is being operated towards a resource zone of said plurality of robot resource zones blocked by said second robot to detect said occurring deadlock conflict. The invention further relates to a deadlock detection system.